CN111999737B - On-orbit joint calibration method for multi-beam satellite-borne laser altimeter - Google Patents
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Abstract
The invention discloses an on-orbit joint calibration method for a multi-beam satellite-borne laser altimeter, which establishes a multi-beam laser joint geometric calibration model by setting a relative geometric relationship between a reference beam and other beams by setting the reference beam, and comprises the following steps of: establishing a reference beam of the multi-beam satellite-borne laser altimeter, and constructing an on-orbit joint geometric calibration model of the multi-beam satellite-borne laser altimeter; connecting the geometric calibration models of the multi-beam satellite-borne laser altimeter, and resolving a geometric calibration error equation of the multi-beam satellite-borne laser altimeter; and (3) pointing and distance measurement settlement of each beam of the multi-beam satellite-borne laser altimeter. The technical scheme of the invention aims to solve the problem of on-orbit calibration of the multi-beam satellite-borne laser altimeter and provides a reliable on-orbit calibration method for the multi-beam satellite-borne laser altimeter which is already on-orbit and is about to emit at present.
Description
Technical Field
The invention relates to the technical field of on-orbit geometric calibration of satellite-borne multi-beam laser altimeters, in particular to an on-orbit joint calibration method of a multi-beam satellite-borne laser altimeter, which is applied to high-precision geometric positioning of each beam of the multi-beam satellite-borne laser altimeter.
Background
The geometric positioning accuracy is the most important index for measuring the performance of the surveying and mapping satellite, wherein the elevation accuracy is more important due to difficult improvement. The laser radar (Light Detection And Ranging, LiDAR for short) has the characteristics of good directivity, high coherence, good monochromaticity, high Ranging precision And the like, so that the laser radar embodies huge application potential in the fields of deep space exploration And earth science, And the satellite-borne laser height measurement technology is applied to a high-resolution optical three-dimensional surveying And mapping satellite, And the auxiliary aerospace photogrammetry is an important technical means for improving the precision of satellite image geometry, particularly in the elevation direction.
With the continuous development of satellite-borne laser technology, satellite-borne laser altimeters have been developed from single-beam lasers into multi-beam satellite-borne laser altimeters. Such as: a resource No. three 02 star laser altimeter transmitted in 2016 is a single-beam laser altimeter, a high-resolution No. seven 02 star transmitted in 2019 is a double-beam laser altimeter, and a land ecosystem carbon monitoring satellite to be transmitted in the future, a high-resolution No. seven 02 star and other satellites are loaded with the multi-beam laser altimeter. Each beam represents an independent laser altimeter, and compared with a single beam laser altimeter, the multi-beam laser altimeter can simultaneously obtain denser high-precision laser ground elevation control points, so that the global mapping precision, particularly the elevation precision, of the mapping remote sensing satellite is improved, and meanwhile, more sufficient data are provided for applications such as polar ice cover mapping, geographic national condition monitoring, national and even global forest general survey and the like. However, the laser altimeter may generate a pointing angle, a centroid shift, a system clock synchronization, and other system errors during the measurement process, especially pointing angle errors, which may reduce the accuracy of the laser foot point as the elevation control in the surveying and mapping industry. Taking the influence of the laser pointing angle error as an example, for a height measurement system with a track height of 500km, when the ground surface incidence angle is 1 degree, the 30 ″ laser pointing error causes a horizontal error of 75m and a height error of 1.3m in the positioning of a foot point, and for a multi-beam satellite-borne laser height measurement instrument, when an error exists in the pointing direction of a certain beam, a certain system error may exist in all beams of the whole system.
At present, the calibration method of the satellite-borne laser altimeter aiming at earth observation is mainly a single-beam satellite-borne laser altimeter, and no introduction of the on-orbit calibration method of the multi-beam satellite-borne laser altimeter exists. Therefore, on the basis of analyzing the error source of the satellite-borne multi-beam laser altimeter geometric positioning and the influence of the error source on the positioning precision, aiming at the characteristics of the geometric installation relationship between the beams of the multi-beam satellite-borne laser altimeter, the in-orbit joint calibration method of the multi-beam satellite-borne laser altimeter is researched and provided, and is used for in-orbit calibration of multi-beam satellite-borne laser altimeters of China's high-grade seven-series satellites, terrestrial ecological carbon satellites and the like, the geometric positioning precision of all beams of the satellite-borne multi-beam laser altimeter is improved, and the method has important significance for improving the application potential of surveying and mapping remote sensing satellites in China in the global mapping.
Disclosure of Invention
In order to solve the technical problems, the invention aims to provide an on-orbit joint calibration method for a multi-beam satellite-borne laser altimeter, which includes the steps of calculating the pointing direction of a reference beam 1 and parameters between the reference beam 1 and each beam by constructing a multi-beam laser altimeter joint calibration model and depending on the known ground foot point coordinates of each beam laser of the satellite-borne laser altimeter on the contact of a selected reference beam, and further calculating the pointing angle and the distance measurement of each beam of the multi-beam satellite-borne laser altimeter according to the pointing direction of the reference beam 1 and the parameters between beams.
The purpose of the invention is realized by the following technical scheme:
an on-orbit joint calibration method for a multi-beam satellite-borne laser altimeter is characterized in that a multi-beam laser joint geometric calibration model is established by setting a reference beam to construct a relative geometric relationship between the reference beam and other beams, and the method comprises the following steps:
step A, establishing a reference beam of a multi-beam satellite-borne laser altimeter, and constructing an on-orbit joint geometric calibration model of the multi-beam satellite-borne laser altimeter;
step B, connecting the multi-beam satellite-borne laser altimeter geometric calibration models, and resolving a multi-beam satellite-borne laser altimeter geometric calibration error equation;
and step C, performing laser pointing and distance measurement settlement on each beam of the multi-beam satellite-borne laser altimeter.
One or more embodiments of the present invention may have the following advantages over the prior art:
and (3) constructing a geometric relation between the beam 1 and other beams, and solving the laser direction of the beam 1 and conversion parameters between the beam 1 and other beams by utilizing ground control points of each beam according to an on-orbit geometric calibration model of the multi-beam satellite-borne laser altimeter, so that the aim of simultaneously calibrating each beam of the multi-beam satellite-borne laser altimeter is fulfilled, and the geometric positioning precision of each beam of the multi-beam satellite-borne laser altimeter is improved once. The method can be widely applied to the on-orbit detection and correction of the future multi-beam satellite-borne laser altimeter.
Drawings
FIG. 1 is a flow chart of on-orbit joint calibration of a multi-beam satellite-borne laser altimeter;
2a, 2b and 2c are diagrams of directional rotation of a multi-beam spaceborne laser altimeter reference beam 1 to beam N;
fig. 3 is a ground distribution diagram of the test points of the high-resolution seven laser beams 1 and 2 provided in this embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the following embodiments and accompanying drawings.
The embodiment provides an on-orbit joint calibration method for a multi-beam satellite-borne laser altimeter, which is characterized in that on the basis of setting a reference beam, ground three-dimensional coordinates of laser spots of each beam obtained in advance are taken as known data to be brought into a constructed on-orbit calibration model of the multi-beam satellite-borne laser altimeter, so that the pointing and ranging calibration of each beam from the reference beam 1 to the beam N are carried out. In specific implementation, automatic operation processing can be realized through a computer software technology.
As shown in fig. 1, the process of on-orbit joint calibration of a multi-beam satellite-borne laser altimeter comprises the following steps:
(1) establishing a reference beam of the laser altimeter and geometrically calibrating a model thereof:
in general, a beam closest to the satellite platform bottom-of-sky direction is selected as a reference beam, the reference beam is set as a beam 1, according to the positions of the beam 1 of the satellite-borne laser altimeter under a platform coordinate system, the geometric relation between the beam 1 and the satellite platform is firstly established, and an in-orbit geometric calibration model of the beam 1 of the multi-waveform satellite-borne laser altimeter is established by combining the relative position deviation and the rotation geometric relation of an earth ellipsoid, wherein the matrix form of the in-orbit geometric calibration model is shown as the following formula:
wherein,
is the ground coordinate of the laser beam 1 footprint spot mass center under the WGS84 coordinate system;
coordinates of the center of the satellite GPS antenna under a WGS84 coordinate system;
is the offset of the laser beam 1 relative to the center of the GPS antenna;
a rotation matrix from the satellite body system to the J2000 coordinate system;
a rotation matrix from a J2000 coordinate system to a WGS84 coordinate system; rho1Is a laser ranging value; rhoatmRanging error due to atmospheric delay; Δ ρtidesRanging errors due to earth tides; Δ ρ1A ranging system error to be solved for beam 1; alpha is alpha1，β1The included angles of the pointing angle of the laser beam 1 with the X axis and the Y axis in the satellite system are respectively.
(2) And (3) extrapolation to an N-beam geometric calibration model of the laser altimeter:
similarly, the method is generalized to the beam N according to the reference beam, wherein the geometric relationship between the beam N and the reference beam 1 is found, so that an N-beam on-orbit geometric calibration model can be constructed, as follows:
wherein,
is the ground coordinate of the laser beam i footprint light spot mass center under the WGS84 coordinate system;
is the offset of the laser beam i relative to the center of the GPS antenna; rhoiA range value for laser beam i; Δ ρiA ranging system error to be solved for the beam i; Δ R (R)i-1，ai-1，bi-1) A pointing rotation matrix for the laser beam i relative to beam 1; n, wherein i is 2,3,4.
(3) The directional rotation matrix Δ R (R) of the beam i with respect to the reference beam 1N-1，aN-1，bN-1) And (5) constructing.
As shown in fig. 2a, 2b and 2c, the beam 1 laser optical axis is taken as a reference, and the beam i optical axis is obtained by sequentially rotating according to the X axis, the Y axis and the Z axis, and the rotation matrix between the reference beam 1 and the beam N is as follows:
wherein r isi-1The rotation angles in the X-axis direction for beams 1 to i; a isi-1The rotation angles in the Y-axis direction for beams 1 to i; bi-1The rotation angles in the Z-axis direction for beams 1 to i; n, wherein i is 2,3,4.
(1) the multi-beam satellite-borne laser altimeter geometric calibration model is combined:
assuming that the multi-beam satellite-borne laser altimeter has N beams, the left side component of the on-orbit geometric calibration model in step 10 can be moved to the right side to construct a single new equation, and the single equations of the reference beam 1 to the beam N are combined to obtain the following matrix formula:
wherein,
a ground coordinate error term of the Nth wave beam; d ρN＝ρN-Δρatm-Δρtides-ΔρN，
(2) Constructing a geometric calibration error equation of the multi-beam satellite-borne laser altimeter;
according to the (1) simultaneous multi-beam satellite-borne laser altimeter geometric calibration model, combining with the substitute unknowns, and according to the error theory, respectively solving partial derivatives of each component from the reference beam 1 to the beam N, and obtaining the following equation:
(3) solving a geometric calibration error equation of the multi-beam satellite-borne laser altimeter;
and (3) making the error equation constructed in the step (2) be AK-L (equal to 0), solving and obtaining each beam parameter component according to a least square principle by taking the ground distance residual error from each beam laser to the ground light spot centroid as a principle, and obtaining the following result:
K＝K0+(ATPA)-1ATPL
wherein, K0Is an initial value of K; p is a weight matrix; k ═ α1 β1 ρ1 ... rN-1 aN-1 bN-1 ρN]；
And step 30, performing laser pointing and distance measurement settlement on each beam of the multi-beam satellite-borne laser altimeter.
(1) The reference beam 1 of the multi-beam satellite-borne laser altimeter points and is distance-measuring and resolving;
according to the step 20, alpha of the reference beam 1 pointing angle of the multi-beam satellite-borne laser altimeter can be directly calculated1,β1And range finding ρ1From these, the angle gamma of the pointing angle of the reference beam 1 to the Z axis in the satellite system can be obtained1As shown in the following formula:
γ1＝sqrt(1-α1 2-β1 2)
(2) resolving the pointing angle of the 2 nd-N wave beam satellite-borne laser altimeter;
the directional three-axis rotation angles (r) of the reference beams 1 to i can be obtained from step 20i,ai,bi) Range measurement rho with beam iiAnd meanwhile, according to the three-axis included angle of the reference beam 1 pointing angle obtained in the step (1), calculating to obtain the three-axis included angle of the pointing angle of the beam i as follows:
wherein (r)i,ai,bi) The i-th beam pointing angle of the laser is respectively included with the X axis, the Y axis and the Z axis in the satellite system, and i is 2,3 and 4.
The following specific embodiment is given, taking a transmitted high-resolution seven-satellite-borne dual-beam laser altimeter as an example, and 154 th orbit laser data acquired by a high-resolution seven-satellite in 2019 on 11, 13 and 11 months is selected for testing, wherein the beam 1 test point time code is: 185108871.333597, the beam 2 trial point timecode is: 185108872.004763, exemplary laser spot ground profiles are shown in FIG. 3, wherein beam 1 and beam 2 are described below:
number of beam 1 test point posesAccording to the following steps: (0, -0.198730311650031, 0.916813669371063, 0.153312208925464); the orbit data is: (-2220733.88367841, 3883616.87164315, 5217174.81903316, -1202.92239466429, 5834.98546168983, -4857.12835679829); the laser ranging values are: 506262.292962116, respectively; the atmospheric correction values are: 2.1768, respectively; the tidal correction value is: -0.0433; the matrix for rotating the test point of the beam 1 from the body to the WGS84 coordinate system is as follows:
the beam 1 laser spot ground coordinates are:
the beam 2 test point attitude data is: (0, -0.19866128640813, 0.916699517089581, 0.153405902349773); the orbit data is: (-2221540.80989299, 3887532.56690286, 5213914.12987535, -1200.5330436945, 5831.91828068733, -4861.43048324585); the laser ranging values are: 506241.389687452, respectively; the atmospheric correction values are: 2.1780, respectively; the tidal correction value is: -0.0431; the matrix for rotating the experimental point of the beam 2 from the body to the WGS84 coordinate system is as follows:
the beam 1 laser spot ground coordinates are:
according to the data of the embodiment, the geometric calibration model and the geometric calibration model calculation method given in the steps 10 to 30 calculate and obtain the pointing deviation (difference between the pointing direction after calibration and the pointing direction before calibration) of the post-calibration high-resolution seven-satellite laser beam 1 as follows: delta alpha1＝0.09177，Δβ10.02651, the range error is: -0.013 m; beam 2 pointing offset is: delta alpha2＝-0.09058，Δβ2-0.02887, ranging error: -0.012 m.
Although the embodiments of the present invention have been described above, the above descriptions are only for the convenience of understanding the present invention, and are not intended to limit the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (5)
1. A multi-beam satellite-borne laser altimeter on-orbit joint calibration method is characterized in that a multi-beam laser joint geometric calibration model is established by setting a reference beam to construct a relative geometric relationship between the reference beam and other beams, and the method comprises the following steps:
step A, establishing a reference beam of a multi-beam satellite-borne laser altimeter, and constructing an on-orbit joint geometric calibration model of the multi-beam satellite-borne laser altimeter;
step B, connecting the multi-beam satellite-borne laser altimeter geometric calibration models, and resolving a multi-beam satellite-borne laser altimeter geometric calibration error equation;
step C, resolving laser pointing and distance measurement of each beam of the multi-beam satellite-borne laser altimeter;
the step A of constructing the multi-beam satellite-borne laser altimeter on-orbit combined geometric calibration model specifically comprises the following steps:
according to the reference beam, finding out the geometric relation between the beam N and the reference beam 1, and constructing an on-orbit geometric calibration model of the N beam, wherein the on-orbit geometric calibration model is as follows:
wherein,
is the ground coordinate of the laser beam i footprint light spot mass center under the WGS84 coordinate system;
as satellite GPS antennaThe center coordinates under the WGS84 coordinate system;
a rotation matrix from the satellite body system to the J2000 coordinate system;
a rotation matrix from a J2000 coordinate system to a WGS84 coordinate system; Δ ρatmΔ ρ being the range error caused by atmospheric delaytidesRanging errors due to earth tides; alpha is alpha1，β1Respectively forming included angles between the pointing angle of the reference wave beam 1 and an X axis and an Y axis in the satellite system;
is the offset of the laser beam i relative to the center of the GPS antenna; rhoiA range value for laser beam i; Δ ρiA ranging system error to be solved for the beam i; Δ R (R)i-1，ai-1，bi-1) A pointing rotation matrix for the laser beam i relative to the reference beam 1; n, wherein i is 2,3,4.. N;
the directional rotation matrix Δ R (R) of the laser beam i with respect to the reference beam 1i-1，ai-1，bi-1) The construction comprises the following steps: and taking the laser optical axis of the reference beam 1 as a reference, and sequentially and respectively rotating according to an X axis, a Y axis and a Z axis to obtain the optical axis of a beam i, wherein a rotation matrix between the reference beam 1 and the beam i is as follows:
wherein r isi-1The rotation angles in the X-axis direction for beams 1 to i; a isi-1The rotation angles in the Y-axis direction for beams 1 to i; bi-1The rotation angles in the Z-axis direction for beams 1 to i; n, wherein i is 2.3.4.
2. The method according to claim 1, wherein in step a, the reference beam is selected as a beam closest to the direction of the satellite platform nadir, and is set as a reference beam 1, a geometric relationship of the reference beam 1 with respect to the satellite platform is constructed according to the position of the reference beam 1 emitting light, the satellite centroid and the GPS antenna center in the platform coordinate system, and an in-orbit geometric calibration model of the reference beam 1 of the multi-beam satellite-borne laser altimeter is constructed in combination with the relative position offset of the earth ellipsoid and the rotation geometric relationship, and the matrix form of the in-orbit geometric calibration model is as follows:
wherein,
the ground coordinates of the center of mass of a footprint light spot of a reference beam 1 under a WGS84 coordinate system;
coordinates of the center of the satellite GPS antenna under a WGS84 coordinate system;
is the offset of the reference beam 1 with respect to the GPS antenna center;
a rotation matrix from the satellite body system to the J2000 coordinate system;
a rotation matrix from a J2000 coordinate system to a WGS84 coordinate system; rho1Is a laser ranging value; Δ ρatmRanging error due to atmospheric delay; Δ ρtidesRanging errors due to earth tides; Δ ρ1A ranging system error to be solved for the reference beam 1; alpha is alpha1，β1Are respectively reference wavesThe beam 1 pointing angle is the angle in the satellite system with the X-axis, the Y-axis.
3. The multi-beam satellite-borne laser altimeter in-orbit joint calibration method according to claim 1, wherein in step B: the method specifically comprises the following steps of combining the multi-beam satellite-borne laser altimeter geometric calibration model: setting a multi-beam satellite-borne laser altimeter with N beams, moving the left side component of the on-orbit geometric calibration model to the right side to construct a single new equation, and combining the single equations from the reference beam 1 to the beam N to obtain the following matrix equation:
wherein,
a ground coordinate error term of the Nth wave beam; d ρN＝ρN-Δρatm-Δρtides-ΔρN，
Wherein,
coordinates of the center of the satellite GPS antenna under a WGS84 coordinate system; Δ ρatmΔ ρ being the range error caused by atmospheric delaytidesRanging errors due to earth tides;
a rotation matrix from the satellite body system to the J2000 coordinate system;
a rotation matrix from a J2000 coordinate system to a WGS84 coordinate system; f. of1Ground with (X) being the 1 st beamError of X coordinate; f. of1(Y) is the ground Y coordinate error of the 1 st beam; f. of1(Z) is the ground Z coordinate error of the 1 st beam;
is the offset of the reference beam 1 with respect to the GPS antenna center; wherein,
is the laser beam 1 footprint spot centroid ground coordinates in WGS84 coordinate system.
4. The method for on-orbit joint calibration of a multi-beam satellite-borne laser altimeter according to claim 1, wherein in the step B: the construction process of the multi-beam satellite-borne laser altimeter geometric calibration error equation comprises the following steps: according to a simultaneous multi-beam satellite-borne laser altimeter geometric calibration model, combining with an unknown number, respectively solving partial derivatives of each component from the reference beam 1 to the beam N according to an error theory, and obtaining an equation as follows:
the solving of the multi-beam satellite-borne laser altimeter geometric calibration error equation specifically comprises the following steps:
and solving to obtain each beam parameter component according to a least square principle by taking the principle that the constructed error equation is AK-L as 0 and the ground distance residual error from each beam laser to the ground light spot centroid is minimum, wherein the result is shown as the following formula:
K＝K0+(ATPA)-1ATPL
wherein, K0Is an initial value of K; p is a weight matrix; k ═ α1 β1 ρ1 ... rN-1 aN-1 bN-1 ρN]；
Wherein alpha is1，β1The included angles, rho, of the reference beam 1 pointing angle with the X-axis and the Y-axis in the satellite system1Laser beam 1 laser ranging value; r isN-1The rotation angles in the X-axis direction for beam 1 to beam N; a isN-1Rotation angles in the Y-axis direction for beam 1 to beam N; bN-1The rotation angles in the Z-axis direction for beam 1 to beam N; rhoNA laser beam N ranging value; f. of1(X) is the ground X coordinate error of the 1 st beam; f. of1(Y) is the ground Y coordinate error of the 1 st beam; f. of1(Z) is the ground Z coordinate error of the 1 st beam; f. ofN(X) is the ground X coordinate error of the Nth beam; f. ofN(Y) is the ground Y coordinate error of the Nth beam; f. ofN(Z) is the ground Z coordinate error of the Nth beam.
5. The multi-beam satellite-borne laser altimeter on-orbit joint calibration method according to claim 1, wherein the step C specifically comprises the steps of:
c1 multi-beam satellite-borne laser altimeter reference beam 1 pointing and distance measurement resolving;
according to the step B, alpha of the reference beam 1 pointing angle of the multi-beam satellite-borne laser altimeter can be directly calculated1，β1And range finding ρ1And according to the pointing angle alpha1，β1And range finding ρ1Calculating the included angle gamma between the pointing angle of the reference wave beam 1 and the Z axis in the system of the satellite1As shown in the following formula:
c2, resolving the pointing angle of the 2 nd-N wave beam satellite-borne laser altimeter;
the directional three-axis rotation angles (r) of the reference beams 1 to i can be obtained from the step Bi，ai，bi) Range measurement rho with beam iiWhile simultaneously obtaining the pointing angle of the reference beam 1The three-axis included angle of the beam i is calculated to be as follows:
n, wherein i is 2,3,4.. N; Δ R (R)i-1，ai-1，bi-1) A pointing rotation matrix for the laser beam i relative to the reference beam 1; r isi-1The rotation angles in the X-axis direction for beams 1 to i; a isi-1The rotation angles in the Y-axis direction for beams 1 to i; bi-1The rotation angles of the beams 1 to i in the Z-axis direction.
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